两相状态下管内机器人的自适应移动机理与控制策略研究

项目名称： 两相状态下管内机器人的自适应移动机理与控制策略研究

项目编号： No.61273345

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 自动化技术、计算机技术

项目作者： 马书根

作者单位： 中国科学院沈阳自动化研究所

项目金额： 76万元

中文摘要： 受生物蛇能够自适应环境变化的启发，将这一想法引入管内机器人的研究领域，探索一种适合管内机器人的自适应移动机理。基于该移动机理的机器人能够根据外部环境信息的变化来调整自身的位姿状态，以提高机器人系统的环境适应性。大多数轮式管内机器人的运动控制系统只能调速而不能大范围调节自身的负载能力，缺乏环境适应性。自适应移动机理允许机器人同时调整速度和负载能力来适应环境的变化，而且通过被动轮位姿驱动主动化，使机器人具有前进和后退两个方向上等同的环境适应性，克服了单纯被动轮带来的单一方向环境适应性问题。研究中着重解决自适应移动机理及其定量描述和基于主驱动器实时状态反馈的自适应机制等问题，并基于该机理研制一台机器人样机进行自适应移动机理和控制方法的验证，这也能证明该移动机理的实用性。本研究为管道机器人在理论和应用层面上提供储备，具有较高的理论和实用价值，开辟管道机器人新的研究领域。

中文关键词： 管内机器人；螺旋驱动；环境适应性；控制策略；自适应移动机理

英文摘要： Inspired by the snake's adaptability to the change of environments, we introduce the idea into the research of the in-pipe robot,and then explore an adaptive mobile mechanics for the in-pipe robot. Based on the adoption of the adaptive mobile mechanics, the in-pipe robot can adjust its own pose according to the external environment information, which can improve the environmental adaptability of the robot system. However, most of the motion control systems of the wheeled in-pipe robots can just adjust govern without the capacity of adjusting their own load capacity in a large scale, which cause these robots are lack of the adaptability to environment. The adaptive mobile mechanics allows the robot to adjust the speed and the load capacity simultaneously to adapt the change of the environment, and it also can endue the robot with the same adaptability to environment in both forward and backward directions by making the driving of passive wheel pose activity. Thus the adaptive mobile mechanics can solve the problem of the environmental adaptability in a single direction caused by the passive wheels. Our research will focus on solving these problems including adaptive mobile mechanics, its quantification, and adaptive mechanism based on the master driver real-time state feedback. Meanwhile, the in-pipe robot will b

英文关键词： in-pipe robot；screw drive；environmental adaptability；control strategy；adaptive mobile mechanism